chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Refactor numerical parsing in XML.

Browse Source 
PiperOrigin-RevId: 653979240
Change-Id: I4d39f4041b88396193eb35f0cc393141d64f6fc0
This commit is contained in:
Kyle Bayes
2024-07-19 05:40:54 -07:00
committed by Copybara-Service
parent e92af73cbf
commit 8a8a44a4db
13 changed files with 378 additions and 314 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/xml/xml_native_reader.cc
+51 -46
View File
@@ -1317,17 +1317,17 @@ void mjXReader::OneFlex(XMLElement* elem, mjsFlex* pflex) {
if (ReadAttrTxt(elem, "body", text, true)) {
mjs_setStringVec(pflex->vertbody, text.c_str());
}
if (ReadAttrTxt(elem, "vertex", text)) {
std::vector<double> vert = String2Vector<double>(text);
mjs_setDouble(pflex->vert, vert.data(), vert.size());
auto vert = ReadAttrVec<double>(elem, "vertex");
if (vert.has_value()) {
mjs_setDouble(pflex->vert, vert->data(), vert->size());
}
if (ReadAttrTxt(elem, "element", text, true)) {
std::vector<int> elem = String2Vector<int>(text);
mjs_setInt(pflex->elem, elem.data(), elem.size());
auto element = ReadAttrVec<int>(elem, "element", true);
if (element.has_value()) {
mjs_setInt(pflex->elem, element->data(), element->size());
}
if (ReadAttrTxt(elem, "texcoord", text)) {
std::vector<float> texcoord = String2Vector<float>(text);
mjs_setFloat(pflex->texcoord, texcoord.data(), texcoord.size());
auto texcoord = ReadAttrVec<float>(elem, "texcoord");
if (texcoord.has_value()) {
mjs_setFloat(pflex->texcoord, texcoord->data(), texcoord->size());
}
// contact subelement
@@ -1459,21 +1459,21 @@ void mjXReader::OneSkin(XMLElement* elem, mjsSkin* pskin) {
ReadAttr(elem, "inflate", 1, &pskin->inflate, text);
// read vertex data
if (ReadAttrTxt(elem, "vertex", text)) {
std::vector<float> vert = String2Vector<float>(text);
mjs_setFloat(pskin->vert, vert.data(), vert.size());
auto vertex = ReadAttrVec<float>(elem, "vertex");
if (vertex.has_value()) {
mjs_setFloat(pskin->vert, vertex->data(), vertex->size());
}
// read texcoord data
if (ReadAttrTxt(elem, "texcoord", text)) {
std::vector<float> texcoord = String2Vector<float>(text);
mjs_setFloat(pskin->texcoord, texcoord.data(), texcoord.size());
auto texcoord = ReadAttrVec<float>(elem, "texcoord");
if (texcoord.has_value()) {
mjs_setFloat(pskin->texcoord, texcoord->data(), texcoord->size());
}
// read user face data
if (ReadAttrTxt(elem, "face", text)) {
std::vector<int> face = String2Vector<int>(text);
mjs_setInt(pskin->face, face.data(), face.size());
auto face = ReadAttrVec<int>(elem, "face");
if (face.has_value()) {
mjs_setInt(pskin->face, face->data(), face->size());
}
// read bones
@@ -1500,14 +1500,16 @@ void mjXReader::OneSkin(XMLElement* elem, mjsSkin* pskin) {
bindquat.push_back(data[3]);
// read vertid
ReadAttrTxt(bone, "vertid", text, true);
vector<int> tempid = String2Vector<int>(text);
mjs_appendIntVec(pskin->vertid, tempid.data(), tempid.size());
auto tempid = ReadAttrVec<int>(bone, "vertid", true);
if (tempid.has_value()) {
mjs_appendIntVec(pskin->vertid, tempid->data(), tempid->size());
}
// read vertweight
ReadAttrTxt(bone, "vertweight", text, true);
vector<float> tempweight = String2Vector<float>(text);
mjs_appendFloatVec(pskin->vertweight, tempweight.data(), tempweight.size());
auto tempweight = ReadAttrVec<float>(bone, "vertweight", true);
if (tempweight.has_value()) {
mjs_appendFloatVec(pskin->vertweight, tempweight->data(), tempweight->size());
}
// advance to next bone
bone = NextSiblingElement(bone, "bone");
@@ -2287,8 +2289,9 @@ void mjXReader::OneComposite(XMLElement* elem, mjsBody* pbody, mjsDefault* def)
ReadAttrTxt(elem, "curve", curves);
ReadAttrTxt(elem, "initial", comp.initial);
ReadAttr(elem, "size", 3, comp.size, text, false, false);
if (ReadAttrTxt(elem, "vertex", text)) {
comp.uservert = String2Vector<float>(text);
auto uservert = ReadAttrVec<float>(elem, "vertex");
if (uservert.has_value()) {
comp.uservert = std::move(uservert.value());
}
// shell
@@ -2530,14 +2533,17 @@ void mjXReader::OneFlexcomp(XMLElement* elem, mjsBody* pbody) {
if (MapValue(elem, "rigid", &n, bool_map, 2)) {
fcomp.rigid = (n==1);
}
if (ReadAttrTxt(elem, "point", text)){
fcomp.point = String2Vector<double>(text);
auto point = ReadAttrVec<double>(elem, "point");
if (point.has_value()) {
fcomp.point = std::move(point.value());
}
if (ReadAttrTxt(elem, "element", text)){
fcomp.element = String2Vector<int>(text);
auto element = ReadAttrVec<int>(elem, "element");
if (element.has_value()) {
fcomp.element = std::move(element.value());
}
if (ReadAttrTxt(elem, "texcoord", text)) {
fcomp.texcoord = String2Vector<float>(text);
auto texcoord = ReadAttrVec<float>(elem, "texcoord");
if (texcoord.has_value()) {
fcomp.texcoord = std::move(texcoord.value());
}
// edge
@@ -2575,23 +2581,22 @@ void mjXReader::OneFlexcomp(XMLElement* elem, mjsBody* pbody) {
// pin
XMLElement* epin = FirstChildElement(elem, "pin");
while (epin) {
// accumulate id, coord, range
if (ReadAttrTxt(epin, "id", text)) {
vector<int> v = String2Vector<int>(text);
fcomp.pinid.insert(fcomp.pinid.end(), v.begin(), v.end());
auto id = ReadAttrVec<int>(epin, "id");
if (id.has_value()) {
fcomp.pinid.insert(fcomp.pinid.end(), id->begin(), id->end());
}
if (ReadAttrTxt(epin, "range", text)) {
vector<int> v = String2Vector<int>(text);
fcomp.pinrange.insert(fcomp.pinrange.end(), v.begin(), v.end());
auto range = ReadAttrVec<int>(epin, "range");
if (range.has_value()) {
fcomp.pinrange.insert(fcomp.pinrange.end(), range->begin(), range->end());
}
if (ReadAttrTxt(epin, "grid", text)) {
vector<int> v = String2Vector<int>(text);
fcomp.pingrid.insert(fcomp.pingrid.end(), v.begin(), v.end());
auto grid = ReadAttrVec<int>(epin, "grid");
if (grid.has_value()) {
fcomp.pingrid.insert(fcomp.pingrid.end(), grid->begin(), grid->end());
}
if (ReadAttrTxt(epin, "gridrange", text)) {
vector<int> v = String2Vector<int>(text);
fcomp.pingridrange.insert(fcomp.pingridrange.end(), v.begin(), v.end());
auto gridrange = ReadAttrVec<int>(epin, "gridrange");
if (gridrange.has_value()) {
fcomp.pingridrange.insert(fcomp.pingridrange.end(),
gridrange->begin(), gridrange->end());
}
// advance
src/xml/xml_native_writer.cc
+14 -13
View File
@@ -44,6 +44,7 @@ using std::string;
using tinyxml2::XMLComment;
using tinyxml2::XMLDocument;
using tinyxml2::XMLElement;
using mujoco::user::VectorToString;
} // namespace
@@ -142,19 +143,19 @@ void mjXWriter::OneFlex(XMLElement* elem, const mjCFlex* pflex) {
// data vectors
if (!pflex->get_vertbody().empty()) {
Vector2String(text, pflex->get_vertbody());
text = VectorToString(pflex->get_vertbody());
WriteAttrTxt(elem, "body", text);
}
if (!pflex->get_vert().empty()) {
Vector2String(text, pflex->get_vert());
text = VectorToString(pflex->get_vert());
WriteAttrTxt(elem, "vertex", text);
}
if (!pflex->get_elem().empty()) {
Vector2String(text, pflex->get_elem());
text = VectorToString(pflex->get_elem());
WriteAttrTxt(elem, "element", text);
}
if (!pflex->get_texcoord().empty()) {
Vector2String(text, pflex->get_texcoord());
text = VectorToString(pflex->get_texcoord());
WriteAttrTxt(elem, "texcoord", text);
}
@@ -207,25 +208,25 @@ void mjXWriter::OneMesh(XMLElement* elem, const mjCMesh* pmesh, mjCDef* def) {
// write vertex data
if (!pmesh->get_uservert().empty()) {
Vector2String(text, pmesh->get_uservert());
text = VectorToString(pmesh->get_uservert());
WriteAttrTxt(elem, "vertex", text);
}
// write normal data
if (!pmesh->get_usernormal().empty()) {
Vector2String(text, pmesh->get_usernormal());
text = VectorToString(pmesh->get_usernormal());
WriteAttrTxt(elem, "normal", text);
}
// write texcoord data
if (!pmesh->get_usertexcoord().empty()) {
Vector2String(text, pmesh->get_usertexcoord());
text = VectorToString(pmesh->get_usertexcoord());
WriteAttrTxt(elem, "texcoord", text);
}
// write face data
if (!pmesh->get_userface().empty()) {
Vector2String(text, pmesh->get_userface());
text = VectorToString(pmesh->get_userface());
WriteAttrTxt(elem, "face", text);
}
}
@@ -257,17 +258,17 @@ void mjXWriter::OneSkin(XMLElement* elem, const mjCSkin* pskin) {
// write data if no file
if (pskin->get_file().empty()) {
// mesh vert
Vector2String(text, pskin->get_vert());
text = VectorToString(pskin->get_vert());
WriteAttrTxt(elem, "vertex", text);
// mesh texcoord
if (!pskin->get_texcoord().empty()) {
Vector2String(text, pskin->get_texcoord());
text = VectorToString(pskin->get_texcoord());
WriteAttrTxt(elem, "texcoord", text);
}
// mesh face
Vector2String(text, pskin->get_face());
text = VectorToString(pskin->get_face());
WriteAttrTxt(elem, "face", text);
// bones
@@ -281,11 +282,11 @@ void mjXWriter::OneSkin(XMLElement* elem, const mjCSkin* pskin) {
WriteAttr(bone, "bindquat", 4, pskin->get_bindquat().data()+4*i);
// write vertid
Vector2String(text, pskin->get_vertid()[i]);
text = VectorToString(pskin->get_vertid()[i]);
WriteAttrTxt(bone, "vertid", text);
// write vertweight
Vector2String(text, pskin->get_vertweight()[i]);
text = VectorToString(pskin->get_vertweight()[i]);
WriteAttrTxt(bone, "vertweight", text);
}
}
src/xml/xml_util.cc
+47 -138
View File
@@ -43,10 +43,6 @@
namespace {
using std::size_t;
using std::string;
using std::stringstream;
using std::vector;
using tinyxml2::XMLAttribute;
using tinyxml2::XMLElement;
@@ -238,7 +234,7 @@ mjXSchema::mjXSchema(const char* schema[][mjXATTRNUM], unsigned nrow) {
// get pointer to error message
string mjXSchema::GetError() {
std::string mjXSchema::GetError() {
return error;
}
@@ -256,7 +252,7 @@ static void printspace(std::stringstream& str, int n, const char* space) {
// print schema as text
void mjXSchema::Print(std::stringstream& str, int level) const {
// replace body with (world)body
string name1 = (name_ == "body") ? "(world)body" : name_;
std::string name1 = (name_ == "body") ? "(world)body" : name_;
// space, name, type
printspace(str, 3*level, " ");
@@ -290,7 +286,7 @@ void mjXSchema::Print(std::stringstream& str, int level) const {
// print schema as HTML table
void mjXSchema::PrintHTML(std::stringstream& str, int level, bool pad) const {
// replace body with (world)body
string name1 = (name_ == "body" ? "(world)body" : name_);
std::string name1 = (name_ == "body" ? "(world)body" : name_);
// open table
if (level==0) {
@@ -377,7 +373,7 @@ XMLElement* mjXSchema::Check(XMLElement* elem, int level) {
const XMLAttribute* attribute = elem->FirstAttribute();
for (; attribute != nullptr; attribute = attribute->Next()) {
if (attr_.find(attribute->Name()) == attr_.end()) {
error = "unrecognized attribute: '" + string(attribute->Name()) + "'";
error = "unrecognized attribute: '" + std::string(attribute->Name()) + "'";
return elem;
}
}
@@ -541,7 +537,7 @@ template bool mjXUtil::SameVector(const unsigned char* vec1, const unsigned char
// find string in map, return corresponding integer (-1: not found)
int mjXUtil::FindKey(const mjMap* map, int mapsz, string key) {
int mjXUtil::FindKey(const mjMap* map, int mapsz, std::string key) {
for (int i=0; i<mapsz; i++) {
if (map[i].key == key) {
return map[i].value;
@@ -554,7 +550,7 @@ int mjXUtil::FindKey(const mjMap* map, int mapsz, string key) {
// find integer in map, return corresponding string ("": not found)
string mjXUtil::FindValue(const mjMap* map, int mapsz, int value) {
std::string mjXUtil::FindValue(const mjMap* map, int mapsz, int value) {
for (int i=0; i<mapsz; i++) {
if (map[i].value == value) {
return map[i].key;
@@ -570,9 +566,22 @@ string mjXUtil::FindValue(const mjMap* map, int mapsz, int value) {
template<typename T>
std::optional<std::vector<T>> mjXUtil::ReadAttrVec(XMLElement* elem, const char* attr,
bool required) {
std::vector<T> vec;
ReadAttrValues<T>(elem, attr, [&](int i, T num) { vec.push_back(num); });
if (!vec.size()) {
std::vector<T> v;
const char* raw_cstr = elem->Attribute(attr);
if (raw_cstr) {
v = mujoco::user::StringToVector<T>(raw_cstr);
if (errno == EDOM) {
mju_warning("XML contains a 'NaN'. Please check it carefully.");
} else if (errno == ERANGE) {
throw mjXError(elem, "number is too large in attribute '%s'", attr);
} else if (errno == EINVAL) {
throw mjXError(elem, "bad format in attribute '%s'", attr);
} else if (errno != 0) {
throw mjXError(elem, "unknown error in attribute '%s'", attr);
}
}
if (!v.size()) {
if (required) {
throw mjXError(elem, "required attribute missing: '%s'", attr);
} else {
@@ -580,7 +589,7 @@ std::optional<std::vector<T>> mjXUtil::ReadAttrVec(XMLElement* elem, const char*
}
}
return vec;
return v;
}
template std::optional<std::vector<double>>
@@ -651,7 +660,7 @@ mjXUtil::ReadAttrNum(XMLElement* elem, const char* attr, bool required);
// return number of elements found
template<typename T>
int mjXUtil::ReadAttr(XMLElement* elem, const char* attr, const int len,
T* data, string& text, bool required, bool exact) {
T* data, std::string& text, bool required, bool exact) {
auto maybe_vec = ReadAttrVec<T>(elem, attr, required);
if (!maybe_vec.has_value()) {
return 0;
@@ -672,21 +681,21 @@ int mjXUtil::ReadAttr(XMLElement* elem, const char* attr, const int len,
}
template int mjXUtil::ReadAttr(XMLElement* elem, const char* attr, int len,
double* data, string& text, bool required, bool exact);
double* data, std::string& text, bool required, bool exact);
template int mjXUtil::ReadAttr(XMLElement* elem, const char* attr, int len,
float* data, string& text, bool required, bool exact);
float* data, std::string& text, bool required, bool exact);
template int mjXUtil::ReadAttr(XMLElement* elem, const char* attr, int len,
int* data, string& text, bool required, bool exact);
int* data, std::string& text, bool required, bool exact);
template int mjXUtil::ReadAttr(XMLElement* elem, const char* attr, int len,
unsigned char* data, string& text, bool required,
unsigned char* data, std::string& text, bool required,
bool exact);
// read quaternion attribute
// throw error if identically zero
int mjXUtil::ReadQuat(XMLElement* elem, const char* attr, double* data, string& text,
int mjXUtil::ReadQuat(XMLElement* elem, const char* attr, double* data, std::string& text,
bool required) {
ReadAttr(elem, attr, /*len=*/4, data, text, required, /*exact=*/true);
@@ -700,7 +709,7 @@ int mjXUtil::ReadQuat(XMLElement* elem, const char* attr, double* data, string&
// read DOUBLE array into C++ vector, return number read
int mjXUtil::ReadVector(XMLElement* elem, const char* attr,
vector<double>& vec, string& text, bool required) {
std::vector<double>& vec, std::string& text, bool required) {
auto maybe_vec = ReadAttrVec<double>(elem, attr, required);
if (!maybe_vec.has_value()) {
return 0;
@@ -713,7 +722,8 @@ int mjXUtil::ReadVector(XMLElement* elem, const char* attr,
// read text field
bool mjXUtil::ReadAttrTxt(tinyxml2::XMLElement* elem, const char* attr, string& text, bool required) {
bool mjXUtil::ReadAttrTxt(tinyxml2::XMLElement* elem, const char* attr,
std::string& text, bool required) {
auto maybe_str = ReadAttrStr(elem, attr, required);
if (!maybe_str.has_value()) {
return false;
@@ -735,92 +745,9 @@ bool mjXUtil::ReadAttrInt(XMLElement* elem, const char* attr, int* data, bool re
}
template<> int mjXUtil::StrToNum(char* str, char** c) {
return std::strtol(str, c, 10);
}
template<> float mjXUtil::StrToNum(char* str, char** c) {
return std::strtof(str, c);
}
template<> double mjXUtil::StrToNum(char* str, char** c) {
return std::strtod(str, c);
}
template <typename T>
std::vector<T> mjXUtil::String2Vector(const std::string& s) {
errno = 0;
std::vector<T> v;
char* cs = (char*) s.c_str();
char* ch = cs;
// reserve worst case
v.reserve((s.size() >> 1) + 1);
for (;;) {
cs = ch;
T num = StrToNum<T>(cs, &ch);
if (cs == ch) break;
if (errno) break;
v.push_back(num);
}
v.shrink_to_fit();
return v;
}
template std::vector<int> mjXUtil::String2Vector(const std::string& s);
template std::vector<float> mjXUtil::String2Vector(const std::string& s);
template std::vector<double> mjXUtil::String2Vector(const std::string& s);
template<>
std::vector<std::string> mjXUtil::String2Vector(const std::string& s) {
std::vector<std::string> v;
std::stringstream ss(s);
std::string word;
while (ss >> word) {
v.push_back(word);
}
return v;
}
// write vector<float> to string
void mjXUtil::Vector2String(string& txt, const vector<string>& vec) {
stringstream strm;
for (size_t i=0; i<vec.size(); i++) {
if (i>0) {
strm << " ";
}
strm << vec[i];
}
txt = strm.str();
}
// write vector<double> to string
void mjXUtil::Vector2String(string& txt, const vector<double>& vec) {
stringstream strm;
for (size_t i=0; i<vec.size(); i++) {
if (i>0) {
strm << " ";
}
strm << vec[i];
}
txt = strm.str();
}
// write vector<float> to string
void mjXUtil::Vector2String(string& txt, const vector<float>& vec, int ncol) {
stringstream strm;
void mjXUtil::Vector2String(std::string& txt, const std::vector<float>& vec, int ncol) {
std::stringstream strm;
for (size_t i=0; i<vec.size(); i++) {
if (ncol && (i % ncol) == 0) {
@@ -834,26 +761,8 @@ void mjXUtil::Vector2String(string& txt, const vector<float>& vec, int ncol) {
txt = strm.str();
}
// write vector<int> to string
void mjXUtil::Vector2String(string& txt, const vector<int>& vec) {
stringstream strm;
for (size_t i=0; i<vec.size(); i++) {
if (i>0) {
strm << " ";
}
strm << vec[i];
}
txt = strm.str();
}
// find subelement with given name, make sure it is unique
XMLElement* mjXUtil::FindSubElem(XMLElement* elem, string name, bool required) {
XMLElement* mjXUtil::FindSubElem(XMLElement* elem, std::string name, bool required) {
XMLElement* subelem = 0;
XMLElement* iter = elem->FirstChildElement();
@@ -924,7 +833,7 @@ static int Round(double x) {
// write attribute
template<typename T>
void mjXUtil::WriteAttr(XMLElement* elem, string name, int n, const T* data, const T* def,
void mjXUtil::WriteAttr(XMLElement* elem, std::string name, int n, const T* data, const T* def,
bool trim) {
// make sure all are defined
if constexpr (std::is_floating_point_v<T>) {
@@ -948,7 +857,7 @@ void mjXUtil::WriteAttr(XMLElement* elem, string name, int n, const T* data, con
}
// increase precision for testing
stringstream stream;
std::stringstream stream;
stream.precision(mujoco::_mjPRIVATE__get_xml_precision());
// process all numbers
@@ -972,22 +881,22 @@ void mjXUtil::WriteAttr(XMLElement* elem, string name, int n, const T* data, con
}
template void mjXUtil::WriteAttr(XMLElement* elem, string name, int n,
template void mjXUtil::WriteAttr(XMLElement* elem, std::string name, int n,
const double* data, const double* def, bool trim);
template void mjXUtil::WriteAttr(XMLElement* elem, string name, int n,
template void mjXUtil::WriteAttr(XMLElement* elem, std::string name, int n,
const float* data, const float* def, bool trim);
template void mjXUtil::WriteAttr(XMLElement* elem, string name, int n,
template void mjXUtil::WriteAttr(XMLElement* elem, std::string name, int n,
const int* data, const int* def, bool trim);
template void mjXUtil::WriteAttr(XMLElement* elem, string name, int n,
template void mjXUtil::WriteAttr(XMLElement* elem, std::string name, int n,
const unsigned char* data,
const unsigned char* def, bool trim);
// write vector<double> attribute, default = zero array
void mjXUtil::WriteVector(XMLElement* elem, string name, const vector<double>& vec) {
void mjXUtil::WriteVector(XMLElement* elem, std::string name, const std::vector<double>& vec) {
// proceed only if non-zero found
bool ok = false;
for (size_t i=0; i<vec.size(); i++) {
@@ -1006,8 +915,8 @@ void mjXUtil::WriteVector(XMLElement* elem, string name, const vector<double>& v
// write vector<double> attribute, default with same size
void mjXUtil::WriteVector(XMLElement* elem, string name, const vector<double>& vec,
const vector<double>& def) {
void mjXUtil::WriteVector(XMLElement* elem, std::string name, const std::vector<double>& vec,
const std::vector<double>& def) {
// proceed only if non-zero found
bool ok = false;
for (size_t i=0; i<vec.size(); i++) {
@@ -1026,7 +935,7 @@ void mjXUtil::WriteVector(XMLElement* elem, string name, const vector<double>& v
// write attribute- string
void mjXUtil::WriteAttrTxt(XMLElement* elem, string name, string value) {
void mjXUtil::WriteAttrTxt(XMLElement* elem, std::string name, std::string value) {
// skip if value is empty
if (value.empty()) {
return;
@@ -1039,7 +948,7 @@ void mjXUtil::WriteAttrTxt(XMLElement* elem, string name, string value) {
// write attribute- single int
void mjXUtil::WriteAttrInt(XMLElement* elem, string name, int data, int def) {
void mjXUtil::WriteAttrInt(XMLElement* elem, std::string name, int data, int def) {
// skip default
if (data==def) {
return;
@@ -1051,7 +960,7 @@ void mjXUtil::WriteAttrInt(XMLElement* elem, string name, int data, int def) {
// write attribute- keyword
void mjXUtil::WriteAttrKey(XMLElement* elem, string name,
void mjXUtil::WriteAttrKey(XMLElement* elem, std::string name,
const mjMap* map, int mapsz, int data, int def) {
// skip default
if (data==def) {
src/xml/xml_util.h
-14
View File
@@ -163,21 +163,9 @@ class mjXUtil {
static bool ReadAttrInt(tinyxml2::XMLElement* elem, const char* attr, int* data,
bool required = false);
// convert string to vector
template<typename T>
static std::vector<T> String2Vector(const std::string& s);
// write vector<string> to string
static void Vector2String(std::string& txt, const std::vector<std::string>& vec);
// write vector<double> to string
static void Vector2String(std::string& txt, const std::vector<double>& vec);
// write vector<float> to string
static void Vector2String(std::string& txt, const std::vector<float>& vec, int ncol = 0);
// write vector<int> to string
static void Vector2String(std::string& txt, const std::vector<int>& vec);
// find subelement with given name, make sure it is unique
static tinyxml2::XMLElement* FindSubElem(tinyxml2::XMLElement* elem, std::string name,
@@ -212,8 +200,6 @@ class mjXUtil {
template<typename T>
static bool ReadAttrValues(tinyxml2::XMLElement* elem, const char* attr,
std::function<void (int, T)> push, int max = -1);
template<typename T> static T StrToNum(char* str, char** c);
};
#endif // MUJOCO_SRC_XML_XML_UTIL_H_